From f028f62c26cd6952d8e58775f3ef07267da11f07 Mon Sep 17 00:00:00 2001
From: emilysteiner71 <emilysteiner71@gmail.com>
Date: Tue, 23 Apr 2024 15:30:09 +1200
Subject: [PATCH] Random can launch

---
 src/controllers/config/sim.yaml       | 2 +-
 src/controllers/controllers/random.py | 3 ++-
 src/controllers/controllers/sim.py    | 2 +-
 src/controllers/launch/sim.launch.py  | 1 +
 4 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/controllers/config/sim.yaml b/src/controllers/config/sim.yaml
index 5c11625e..547e86d2 100644
--- a/src/controllers/config/sim.yaml
+++ b/src/controllers/config/sim.yaml
@@ -1,6 +1,6 @@
 sim:
   ros__parameters:
-    algorithm: 'ftg'
+    algorithm: 'random'
     observation_mode: 'lidar_only'
     environment: 'CarTrack'
     track: 'multi_track'
diff --git a/src/controllers/controllers/random.py b/src/controllers/controllers/random.py
index 718bbe41..6552c70d 100644
--- a/src/controllers/controllers/random.py
+++ b/src/controllers/controllers/random.py
@@ -20,10 +20,11 @@ def main():
     CAR_NAME = params[0]
     
     controller = Controller('random_', CAR_NAME, 0.25)
+    policy_id = 'random'
     
     while True:
         action = np.asarray([random.uniform(0, 3), random.uniform(-3.14, 3.14)])    
-        controller.step(action)
+        controller.step(action, policy_id)
     
 
 if __name__ == '__main__':
diff --git a/src/controllers/controllers/sim.py b/src/controllers/controllers/sim.py
index 3796fc20..6d5cc270 100644
--- a/src/controllers/controllers/sim.py
+++ b/src/controllers/controllers/sim.py
@@ -5,7 +5,7 @@
 import rclpy
 import torch
 
-from cares_reinforcement_learning.util.network_factory import NetworkFactory
+#from cares_reinforcement_learning.util.network_factory import NetworkFactory
 import cares_reinforcement_learning.util.configurations as cfg
 
 from reinforcement_learning.parse_args import parse_args
diff --git a/src/controllers/launch/sim.launch.py b/src/controllers/launch/sim.launch.py
index 51461c96..e0ca8d2f 100644
--- a/src/controllers/launch/sim.launch.py
+++ b/src/controllers/launch/sim.launch.py
@@ -18,6 +18,7 @@
 alg_launch = {
     'ftg': 'ftg',
     'rl': 'rl',
+    'random': 'random',
 }
 
 def generate_launch_description():